ardupilot/libraries/AP_Scripting
Iampete1 97b44dfe71 AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
..
applets AP_Scripting: Add Heli_IM_COL_TUNE applet and readme 2020-09-09 17:50:31 +10:00
examples AP_Scripting: examples to load and save missions to the SD card 2020-10-28 19:21:26 +11:00
generator AP_Scripting: examples to load and save missions to the SD card 2020-10-28 19:21:26 +11:00
lua AP_Scripting: Add setmetatable back to the lua sandbox 2020-10-27 10:25:56 +11:00
tests AP_Scripting: move scripting_test.lua from examples to tests 2020-03-19 15:28:39 -07:00
.gitignore AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
AP_Scripting.cpp AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
AP_Scripting.h AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
README.md AP_Scripting: update README.md 2020-05-12 19:55:21 +10:00
lua_bindings.cpp AP_Scripting: bindings: add units and multipliers to logging 2020-10-13 10:34:42 +11:00
lua_bindings.h AP_Scripting: Enforce a time limit for a script 2018-11-14 01:41:35 +00:00
lua_boxed_numerics.cpp AP_Scripting: remove compile errors and warnings 2020-09-22 09:37:02 +10:00
lua_boxed_numerics.h AP_Scripting: Add support for UART drivers 2020-01-13 20:06:31 -07:00
lua_repl.cpp AP_Scripting: auto-build the bindings 2020-05-12 19:55:21 +10:00
lua_scripts.cpp AP_Scripting: add DIR_DISABLE param 2020-10-28 19:22:45 +11:00
lua_scripts.h AP_Scripting: Create scripts folder automatically 2020-06-20 21:39:06 +10:00
wscript AP_Scripting: remove compile errors and warnings 2020-09-22 09:37:02 +10:00

README.md

AP_Scripting

Enabling Scripting Support in Builds

Scripting is automatically enabled on all boards with at least 1MB of flash space. The following example enables scripting, builds the ArduPlane firmware for the Cube, and uploads it.

$ waf configure --board=CubeBlack

$ waf plane

$ waf plane --upload

To run SITL you can simply use the sim_vehicle.py script which will wrap the configuration, compilation, and launching of the simulation into one command for you.

$ Tools/autotest/sim_vehicle.py -v ArduPlane

Once you have a vehicle flashed with scripting you need to set the SCR_ENABLE parameter to 1 to enable scripting and reboot.

Adding Scripts

The vehicle will automatically look for and launch any scripts that are contained in the scripts folder when it starts. On real hardware this should be inside of the APM folder of the SD card. In SITL this should be in the working directory (typically the main ardupilot directory).

An example script is given below:

function update () -- periodic function that will be called
  current_pos = ahrs:get_position()
  home = ahrs:get_home()
  if current_pos and home then
    distance = current_pos:get_distance(ahrs:get_home()) -- calculate the distance from home
    if distance > 1000 then -- if more then 1000 meters away
      distance = 1000;      -- clamp the distance to 1000 meters
    end
    SRV_Channels:set_output_pwm(96, 1000 + distance) -- set the servo assigned function 96 (scripting3) to a proportional value
  end

  return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now
end

return update, 1000 -- request to be rerun again 1000 milliseconds (1 second) from now

Working with bindings

Edit bindings.desc and rebuild. The waf build will automatically re-run the code generator.